Related papers: Dynamic Grasping with a "Soft" Drone: From Theory …
Grasping deformable objects with varying stiffness remains a significant challenge in robotics. Estimating the local stiffness of a target object is important for determining an optimal grasp pose that enables stable pickup without damaging…
Multi-suction-cup grippers are frequently employed to perform pick-and-place robotic tasks, especially in industrial settings where grasping a wide range of light to heavy objects in limited amounts of time is a common requirement. However,…
Avian-informed drones feature morphing wing and tail surfaces, enhancing agility and adaptability in flight. Despite their large potential, realising their full capabilities remains challenging due to the lack of generalized control…
Current approaches to grasp planning for robotics demonstrate high success rates, but degrade with noisy sensors and other factors. Previous works have proposed tactile-based grasp stability classifiers to detect failures, but these…
In robotic surgery, pattern cutting through a deformable material is a challenging research field. The cutting procedure requires a robot to concurrently manipulate a scissor and a gripper to cut through a predefined contour trajectory on…
Remote monitoring of drones has become a global objective due to emerging applications in national security and managing aerial delivery traffic. Despite their relatively small size, drones can carry significant payloads, which require…
We present an intuitive human-drone interaction system that utilizes a gesture-based motion controller to enhance the drone operation experience in real and simulated environments. The handheld motion controller enables natural control of…
Autonomous grasping remains challenging as unlike humans, robots do not possess a sophisticated sensing nor delicate interaction capability with the real environment. Among other efforts that tried to close the gap between them,…
This work presents an actuation framework for a bioinspired flapping drone called Aerobat. This drone, capable of producing dynamically versatile wing conformations, possesses 14 body joints and is tail-less. Therefore, in our robot, unlike…
Reaching-and-grasping is a fundamental skill for robotic manipulation, but existing methods usually train models on a specific gripper and cannot be reused on another gripper. In this paper, we propose a novel method that can learn a…
Flexible robots have advantages over rigid robots in their ability to conform physically to their environment and to form a wide variety of shapes. Sensing the force applied by or to flexible robots is useful for both navigation and…
Obstacle avoidance is a key feature for safe Unmanned Aerial Vehicle (UAV) navigation. While solutions have been proposed for static obstacle avoidance, systems enabling avoidance of dynamic objects, such as drones, are hard to implement…
Novel robotic grippers have captured increasing interests recently because of their abilities to adapt to varieties of circumstances and their powerful functionalities. Differing from traditional gripper with mechanical components-made…
In this project, we focus on human-robot interaction in caregiving scenarios like bathing, where physical contact is inevitable and necessary for proper task execution because force must be applied to the skin. Using finite element…
We consider the problem of reorienting a rigid object with arbitrary known shape on a table using a two-finger pinch gripper. Reorienting problem is challenging because of its non-smoothness and high dimensionality. In this work, we focus…
Soft robots have the potential to revolutionize the use of robotic systems with their capability of establishing safe, robust, and adaptable interactions with their environment, but their precise control remains challenging. In contrast,…
Robotic grasping is an essential capability, playing a critical role in enabling robots to physically interact with their surroundings. Despite extensive research, challenges remain due to the diverse shapes and properties of target…
Grasping objects with diverse mechanical properties, such as heavy, slippery, or fragile items, remains a significant challenge in robotics. Conventional grippers often rely on applying high normal forces, which can cause damage to objects.…
Robot-to-human object handover is an essential skill for robot assistants, from serving drinks at home to passing surgical tools in the operating room. We expect robots to perform handover robustly -- to release the object only after a firm…
A representation gap exists between grasp synthesis for rigid and soft grippers. Anygrasp [1] and many other grasp synthesis methods are designed for rigid parallel grippers, and adapting them to soft grippers often fails to capture their…